Fig. 2.

The equipment setup is shown, with the endoscope attached to the da Vinci™ surgical robot placed within the O-arm™ interventional scanner (a). The left images of all the views from the dataset alongside renderings of each endoscope view (b). A range of tissue types is evident. The top row shows features with interesting variation of depth (image 1 and 3 are chosen to be similar to assess repeatability). The second row shows the kidney at different depths, with and without renal fascia. The third row shows the liver and surrounding tissues from the second ex vivo sample. The bottom row includes some smooth, featureless and highly specular regions from the kidney of sample 2. There is considerable variation of depth in most of these images (see Fig. 3).